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Merge branch 'master' into motorslider

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This commit is contained in:
Sam El-Husseini
2018-01-10 09:56:59 -08:00
parent 16b9a5027d f64bf57000
commit 4e4f5495da
165 changed files with 13655 additions and 849 deletions
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50
sim/dalboard.ts
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@ -3,24 +3,6 @@
/// <reference path="../built/common-sim.d.ts"/>
namespace pxsim {
export enum CPlayPinName {
A0,
A1,
A2,
A3,
A4,
A5,
A6,
A7,
A8,
A9,
D4,
D5,
D6,
D7,
D8,
D13
}
export class EV3Board extends CoreBoard {
view: SVGSVGElement;
@ -36,7 +18,7 @@ namespace pxsim {
brickNode: BrickNode;
outputNodes: MotorNode[] = [];
private motorMap: pxt.Map<number> = {
public motorMap: pxt.Map<number> = {
0x01: 0,
0x02: 1,
0x04: 2,
@ -115,27 +97,40 @@ namespace pxsim {
return this.brickNode;
}
motorUsed(port:number, large: boolean) {
for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
motorUsed(port: number, large: boolean) {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const p = 1 << i;
if (port & p) {
const motorPort = this.motorMap[p];
if (!this.outputNodes[motorPort])
this.outputNodes[motorPort] = new MotorNode(motorPort, large);
}
}
}
}
}
hasMotor(port: number) {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const p = 1 << i;
if (port & p) {
const motorPort = this.motorMap[p];
const outputNode = this.outputNodes[motorPort];
if (outputNode)
return true;
}
}
return false;
}
getMotor(port: number, large?: boolean): MotorNode[] {
const r = [];
for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
const p = 1 << i;
if (port & p) {
const motorPort = this.motorMap[p];
const outputNode = this.outputNodes[motorPort];
if (outputNode)
r.push(outputNode);
}
}
}
return r;
}
@ -144,6 +139,10 @@ namespace pxsim {
return this.outputNodes;
}
hasSensor(port: number) {
return !!this.inputNodes[port];
}
getSensor(port: number, type: number): SensorNode {
if (!this.inputNodes[port]) {
switch (type) {
@ -168,6 +167,7 @@ namespace pxsim {
runtime.postError = (e) => {
// TODO
runtime.updateDisplay();
console.log('runtime error: ' + e);
}
}

3
sim/state/analog.ts
View File

@ -24,13 +24,14 @@ namespace pxsim {
}
export class EV3AnalogState {
constructor() {
let data = new Uint8Array(5172)
MMapMethods.register("/dev/lms_analog", {
data,
beforeMemRead: () => {
//console.log("analog before read");
data[AnalogOff.BatteryTemp] = 21; // TODO simulate this
data[AnalogOff.BatteryCurrent] = 100; // TODO simulate this
const inputNodes = ev3board().getInputNodes();
for (let port = 0; port < DAL.NUM_INPUTS; port++) {
const node = inputNodes[port];

4
sim/state/color.ts
View File

@ -3,12 +3,13 @@
namespace pxsim {
export enum ColorSensorMode {
None = -1,
Reflected = 0,
Ambient = 1,
Colors = 2,
RefRaw = 3,
RgbRaw = 4,
ColorCal = 5
ColorCal = 5,
}
export enum ThresholdState {
@ -24,6 +25,7 @@ namespace pxsim {
constructor(port: number) {
super(port);
this.mode = -1;
}
getDeviceType() {

1
sim/state/control.ts
View File

@ -81,7 +81,6 @@ namespace pxsim.control {
export function dmesg(s: string) {
console.log("DMESG: " + s)
}
}
namespace pxsim.output {

19
sim/state/input.ts
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@ -1,10 +1,17 @@
import lf = pxsim.localization.lf;
namespace pxsim.motors {
export function __motorUsed(port: number, large: boolean) {
//console.log("MOTOR INIT " + port);
ev3board().motorUsed(port, large);
runtime.queueDisplayUpdate();
if (!ev3board().hasMotor(port)) {
ev3board().motorUsed(port, large);
runtime.queueDisplayUpdate();
} else {
U.userError(`${lf("Multiple motors are connected to Port")} ${String.fromCharCode('A'.charCodeAt(0) + ev3board().motorMap[port])}`);
}
}
}
@ -12,7 +19,11 @@ namespace pxsim.sensors {
export function __sensorUsed(port: number, type: number) {
//console.log("SENSOR INIT " + port + ", type: " + type);
const sensor = ev3board().getSensor(port, type);
runtime.queueDisplayUpdate();
if (!ev3board().hasSensor(port)) {
const sensor = ev3board().getSensor(port, type);
runtime.queueDisplayUpdate();
} else {
U.userError(`${lf("Multiple sensors are connected to Port")} ${port + 1}`);
}
}
}

82
sim/state/motornode.ts
View File

@ -15,29 +15,51 @@ namespace pxsim {
private speedCmdValues: number[];
private speedCmdTacho: number;
private speedCmdTime: number;
private _synchedMotor: MotorNode; // non-null if synchronized
constructor(port: number, large: boolean) {
super(port);
this.setLarge(large);
}
isReady() {
return !this.speedCmd;
}
getSpeed() {
return this.speed * (this.polarity == 0 ? -1 : 1);
return this.speed * (this.polarity == 0 ? -1 : 1);
}
getAngle() {
return this.angle;
}
// returns the slave motor if any
getSynchedMotor() {
return this._synchedMotor;
}
setSpeedCmd(cmd: DAL, values: number[]) {
if (this.speedCmd != cmd ||
JSON.stringify(this.speedCmdValues) != JSON.stringify(values))
this.setChangedState();
// new command TODO: values
this.speedCmd = cmd;
this.speedCmdValues = values;
this.speedCmdTacho = this.angle;
this.speedCmdTime = pxsim.U.now();
delete this._synchedMotor;
}
setSyncCmd(motor: MotorNode, cmd: DAL, values: number[]) {
this.setSpeedCmd(cmd, values);
this._synchedMotor = motor;
}
clearSpeedCmd() {
delete this.speedCmd;
delete this.speedCmdValues;
delete this._synchedMotor;
}
setLarge(large: boolean) {
@ -67,6 +89,7 @@ namespace pxsim {
stop() {
this.started = false;
this.clearSpeedCmd();
}
start() {
@ -86,7 +109,7 @@ namespace pxsim {
//console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
const interval = Math.min(20, elapsed);
let t = 0;
while(t < elapsed) {
while (t < elapsed) {
let dt = interval;
if (t + dt > elapsed) dt = elapsed - t;
this.updateStateStep(dt);
@ -106,14 +129,14 @@ namespace pxsim {
case DAL.opOutputTimeSpeed:
case DAL.opOutputTimePower:
case DAL.opOutputStepPower:
case DAL.opOutputStepSpeed:
case DAL.opOutputStepSpeed: {
// ramp up, run, ramp down, <brake> using time
const speed = this.speedCmdValues[0];
const step1 = this.speedCmdValues[1];
const step2 = this.speedCmdValues[2];
const step3 = this.speedCmdValues[3];
const brake = this.speedCmdValues[4];
const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
? pxsim.U.now() - this.speedCmdTime
: this.tacho - this.speedCmdTacho;
if (dstep < step1) // rampup
@ -126,9 +149,49 @@ namespace pxsim {
if (brake) this.speed = 0;
this.clearSpeedCmd();
}
this.speed = Math.round(this.speed); // integer only
break;
}
case DAL.opOutputStepSync:
case DAL.opOutputTimeSync: {
const otherMotor = this._synchedMotor;
if (otherMotor.port < this.port) // handled in other motor code
break;
const speed = this.speedCmdValues[0];
const turnRatio = this.speedCmdValues[1];
const stepsOrTime = this.speedCmdValues[2];
const brake = this.speedCmdValues[3];
const dstep = this.speedCmd == DAL.opOutputTimeSync
? pxsim.U.now() - this.speedCmdTime
: this.tacho - this.speedCmdTacho;
// 0 is special case, run infinite
if (!stepsOrTime || dstep < stepsOrTime)
this.speed = speed;
else {
if (brake) this.speed = 0;
this.clearSpeedCmd();
}
// turn ratio is a bit weird to interpret
// see https://communities.theiet.org/blogs/698/1706
if (turnRatio < 0) {
otherMotor.speed = speed;
this.speed *= (100 + turnRatio) / 100;
} else {
otherMotor.speed = this.speed * (100 - turnRatio) / 100;
}
// clamp
this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
// stop other motor if needed
if (!this._synchedMotor)
otherMotor.clearSpeedCmd();
break;
}
}
this.speed = Math.round(this.speed); // integer only
// compute delta angle
const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed;
@ -143,8 +206,15 @@ namespace pxsim {
// let it coast to speed 0
if (this.speed && !(this.started || this.speedCmd)) {
// decay speed 5% per tick
this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * Math.sign(this.speed));
this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * sign(this.speed));
}
}
}
}
namespace pxsim {
// A re-implementation of Math.sign (since IE11 doesn't support it)
export function sign(num: number) {
return num ? num < 0 ? -1 : 1 : 0;
}
}

41
sim/state/output.ts
View File

@ -12,10 +12,24 @@ namespace pxsim {
data[i] = 0
},
read: buf => {
let v = "vSIM"
for (let i = 0; i < buf.data.length; ++i)
buf.data[i] = v.charCodeAt(i) || 0
console.log("pwm read");
// console.log("pwm read");
if (buf.data.length == 0) return 2;
const cmd = buf.data[0];
switch (cmd) {
case DAL.opOutputTest:
const port = buf.data[1];
let r = 0;
ev3board().getMotor(port)
.filter(motor => !motor.isReady())
.forEach(motor => r |= (1 << motor.port));
pxsim.BufferMethods.setNumber(buf, BufferMethods.NumberFormat.UInt8LE, 2, r);
break;
default:
let v = "vSIM"
for (let i = 0; i < buf.data.length; ++i)
buf.data[i] = v.charCodeAt(i) || 0
break;
}
return buf.data.length
},
write: buf => {
@ -56,6 +70,25 @@ namespace pxsim {
motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake]));
return 2;
}
case DAL.opOutputStepSync:
case DAL.opOutputTimeSync: {
const port = buf.data[1];
const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
// note that b[3] is padding
const turnRatio = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int16LE, 4);
// b[6], b[7] is padding
const stepsOrTime = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 12);
const motors = ev3board().getMotor(port);
for (const motor of motors) {
const otherMotor = motors.filter(m => m.port != motor.port)[0];
motor.setSyncCmd(
otherMotor,
cmd, [speed, turnRatio, stepsOrTime, brake]);
}
return 2;
}
case DAL.opOutputStop: {
// stop
const port = buf.data[1];

9
sim/state/sensor.ts
View File

@ -5,6 +5,7 @@ namespace pxsim {
protected mode: number;
protected valueChanged: boolean;
protected modeChanged: boolean;
constructor(port: number) {
super(port);
@ -24,6 +25,8 @@ namespace pxsim {
setMode(mode: number) {
this.mode = mode;
this.changed = true;
this.modeChanged = true;
}
getMode() {
@ -44,6 +47,12 @@ namespace pxsim {
return res;
}
modeChange() {
const res = this.modeChanged;
this.modeChanged = false;
return res;
}
setChangedState() {
this.changed = true;
this.valueChanged = false;

15
sim/state/sounds.ts
View File

@ -10,8 +10,6 @@ namespace pxsim.music {
}
namespace pxsim.SoundMethods {
let numSoundsPlaying = 0;
const soundsLimit = 1;
let audio: HTMLAudioElement;
export function buffer(buf: RefBuffer) {
@ -27,18 +25,15 @@ namespace pxsim.SoundMethods {
}
export function play(buf: RefBuffer, volume: number) {
if (!buf || numSoundsPlaying >= soundsLimit) {
if (!buf) {
return Promise.resolve();
}
return new Promise<void>(resolve => {
let url = "data:audio/wav;base64," + btoa(uint8ArrayToString(buf.data))
audio = new Audio(url)
audio.onended = () => {
resolve();
numSoundsPlaying--;
}
numSoundsPlaying++;
audio.play()
audio.onended = () => resolve();
audio.onpause = () => resolve();
audio.play();
})
}
@ -46,8 +41,8 @@ namespace pxsim.SoundMethods {
return new Promise<void>(resolve => {
if (audio) {
audio.pause();
numSoundsPlaying--;
}
resolve();
})
}

43
sim/visuals/board.ts
View File

@ -50,6 +50,15 @@ namespace pxsim.visuals {
fill:#5A5A5A;
}
.no-drag, .sim-text, .sim-text-pin {
user-drag: none;
user-select: none;
-moz-user-select: none;
-webkit-user-drag: none;
-webkit-user-select: none;
-ms-user-select: none;
}
/* Color Grid */
.sim-color-grid-circle:hover {
stroke-width: 0.4;
@ -192,8 +201,8 @@ namespace pxsim.visuals {
this.layoutView.updateTheme(theme);
}
private getControlForNode(id: NodeType, port: number) {
if (this.cachedControlNodes[id] && this.cachedControlNodes[id][port]) {
private getControlForNode(id: NodeType, port: number, useCache = true) {
if (useCache && this.cachedControlNodes[id] && this.cachedControlNodes[id][port]) {
return this.cachedControlNodes[id][port];
}
@ -352,6 +361,28 @@ namespace pxsim.visuals {
cancelAnimationFrame(animationId);
})
}
// Save previous inputs for the next cycle
EV3View.previousSelectedInputs = ev3board().getInputNodes().map((node, index) => (this.getDisplayViewForNode(node.id, index).getSelected()) ? node.id : -1)
EV3View.previousSeletedOutputs = ev3board().getMotors().map((node, index) => (this.getDisplayViewForNode(node.id, index).getSelected()) ? node.id : -1);
}
private static previousSelectedInputs: number[];
private static previousSeletedOutputs: number[];
private static isPreviousInputSelected(index: number, id: number) {
if (EV3View.previousSelectedInputs && EV3View.previousSelectedInputs[index] == id) {
EV3View.previousSelectedInputs[index] = undefined;
return true;
}
return false;
}
private static isPreviousOutputSelected(index: number, id: number) {
if (EV3View.previousSeletedOutputs && EV3View.previousSeletedOutputs[index] == id) {
EV3View.previousSeletedOutputs[index] = undefined;
return true;
}
return false;
}
private begin() {
@ -394,7 +425,9 @@ namespace pxsim.visuals {
const view = this.getDisplayViewForNode(node.id, index);
if (!node.didChange() && !view.didChange()) return;
if (view) {
const control = view.getSelected() ? this.getControlForNode(node.id, index) : undefined;
const isSelected = EV3View.isPreviousInputSelected(index, node.id) || view.getSelected();
if (isSelected && !view.getSelected()) view.setSelected(true);
const control = isSelected ? this.getControlForNode(node.id, index, !node.modeChange()) : undefined;
const closeIcon = control ? this.getCloseIconView() : undefined;
this.layoutView.setInput(index, view, control, closeIcon);
view.updateState();
@ -413,7 +446,9 @@ namespace pxsim.visuals {
const view = this.getDisplayViewForNode(node.id, index);
if (!node.didChange() && !view.didChange()) return;
if (view) {
const control = view.getSelected() ? this.getControlForNode(node.id, index) : undefined;
const isSelected = EV3View.isPreviousOutputSelected(index, node.id) || view.getSelected();
if (isSelected && !view.getSelected()) view.setSelected(true);
const control = isSelected ? this.getControlForNode(node.id, index) : undefined;
const closeIcon = control ? this.getCloseIconView() : undefined;
this.layoutView.setOutput(index, view, control, closeIcon);
view.updateState();

2
sim/visuals/controls/colorGrid.ts
View File

@ -7,7 +7,7 @@ namespace pxsim.visuals {
getInnerView() {
this.group = svg.elt("g") as SVGGElement;
this.group.setAttribute("transform", `translate(1.02, 1.5) scale(0.8)`)
this.group.setAttribute("transform", `translate(2, 2.5) scale(0.6)`)
const colorIds = ['red', 'yellow', 'blue', 'green', undefined, 'grey'];
const colors = ['#f12a21', '#ffd01b', '#006db3', '#00934b', undefined, '#6c2d00'];

16
sim/visuals/layoutView.ts
View File

@ -173,15 +173,15 @@ namespace pxsim.visuals {
}
// Inject all ports
this.setInput(0, new PortView(0, 'A'));
this.setInput(1, new PortView(1, 'B'));
this.setInput(2, new PortView(2, 'C'));
this.setInput(3, new PortView(3, 'D'));
this.setInput(0, new PortView(0, '1'));
this.setInput(1, new PortView(1, '2'));
this.setInput(2, new PortView(2, '3'));
this.setInput(3, new PortView(3, '4'));
this.setOutput(0, new PortView(0, '1'));
this.setOutput(1, new PortView(1, '2'));
this.setOutput(2, new PortView(2, '3'));
this.setOutput(3, new PortView(3, '4'));
this.setOutput(0, new PortView(0, 'A'));
this.setOutput(1, new PortView(1, 'B'));
this.setOutput(2, new PortView(2, 'C'));
this.setOutput(3, new PortView(3, 'D'));
return this.contentGroup;
}

1
sim/visuals/nodes/colorSensorView.ts
View File

@ -14,6 +14,7 @@ namespace pxsim.visuals {
}
public updateState() {
super.updateState();
// TODO: show different color modes
}
}

44
sim/visuals/nodes/largeMotorView.ts
View File

@ -1,25 +1,51 @@
/// <reference path="./moduleView.ts" />
/// <reference path="./motorView.ts" />
namespace pxsim.visuals {
export class LargeMotorView extends ModuleView implements LayoutElement {
private static ROTATING_ECLIPSE_ID = "hole";
export class LargeMotorView extends MotorView implements LayoutElement {
constructor(port: number) {
super(LARGE_MOTOR_SVG, "large-motor", NodeType.LargeMotor, port);
super(LARGE_MOTOR_SVG, "large-motor", NodeType.LargeMotor, port, "hole");
}
private syncedMotor: MotorNode;
private syncedLabelG: SVGGElement;
updateState() {
super.updateState();
const motorState = ev3board().getMotors()[this.port];
if (!motorState) return;
const speed = motorState.getSpeed();
if (!speed) return;
this.setMotorAngle(motorState.getAngle());
const syncedMotor = motorState.getSynchedMotor();
if ((syncedMotor || this.syncedMotor) && syncedMotor != this.syncedMotor) {
this.syncedMotor = syncedMotor;
if (this.syncedMotor) {
this.showSyncedLabel(motorState, syncedMotor);
} else if (this.syncedLabelG) {
this.syncedLabelG.parentNode.removeChild(this.syncedLabelG);
}
}
}
private setMotorAngle(angle: number) {
const holeEl = this.content.getElementById(this.normalizeId(LargeMotorView.ROTATING_ECLIPSE_ID))
private showSyncedLabel(motorNode: MotorNode, syncedMotor: MotorNode) {
const a = String.fromCharCode('A'.charCodeAt(0) + motorNode.port);
const b = String.fromCharCode('A'.charCodeAt(0) + syncedMotor.port);
this.syncedLabelG = pxsim.svg.child(this.element, 'g', {'transform': 'scale(0.5)'}) as SVGGElement;
pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 15, 'ry': 15, 'x': 0, 'y': 0, 'width': 84, 'height': 34, 'fill': '#A8A9A8'});
pxsim.svg.child(this.syncedLabelG, 'circle', {'cx': 17, 'cy': 17, 'r': 15, 'fill': 'white'});
const leftLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(11, 22)', 'class': 'no-drag', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
leftLabel.textContent = a;
pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 0, 'ry': 0, 'x': 37, 'y': 12, 'width': 10, 'height': 3, 'fill': '#ffffff'});
pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 0, 'ry': 0, 'x': 37, 'y': 18, 'width': 10, 'height': 3, 'fill': '#ffffff'});
pxsim.svg.child(this.syncedLabelG, 'circle', {'cx': 67, 'cy': 17, 'r': 15, 'fill': 'white'});
const rightLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(61, 22)', 'class': 'no-drag', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
rightLabel.textContent = b;
}
protected renderMotorAngle(holeEl: Element, angle: number) {
const width = 125.92;
const height = 37.9;
const transform = `rotate(${angle} ${width / 2} ${height / 2})`;

23
sim/visuals/nodes/mediumMotorView.ts
View File

@ -2,34 +2,17 @@
namespace pxsim.visuals {
export const MOTOR_ROTATION_FPS = 32;
export class MediumMotorView extends ModuleView implements LayoutElement {
private static ROTATING_ECLIPSE_ID = "medmotor_Hole";
private hasPreviousAngle: boolean;
private previousAngle: number;
export class MediumMotorView extends MotorView implements LayoutElement {
constructor(port: number) {
super(MEDIUM_MOTOR_SVG, "medium-motor", NodeType.MediumMotor, port);
super(MEDIUM_MOTOR_SVG, "medium-motor", NodeType.MediumMotor, port, "medmotor_Hole");
}
public getPaddingRatio() {
return 1 / 5;
}
updateState() {
const motorState = ev3board().getMotors()[this.port];
if (!motorState) return;
const speed = motorState.getSpeed();
if (!speed) return;
this.setMotorAngle(motorState.getAngle());
}
private setMotorAngle(angle: number) {
const holeEl = this.content.getElementById(this.normalizeId(MediumMotorView.ROTATING_ECLIPSE_ID))
protected renderMotorAngle(holeEl: Element, angle: number) {
const width = 44.45;
const height = 44.45;
const transform = `translate(2 1.84) rotate(${angle} ${width / 2} ${height / 2})`;

18
sim/visuals/nodes/moduleView.ts
View File

@ -4,7 +4,8 @@ namespace pxsim.visuals {
protected content: SVGSVGElement;
protected controlShown: boolean;
protected selected: boolean;
protected opacity: number;
constructor(protected xml: string, protected prefix: string, protected id: NodeType, protected port: NodeType) {
super();
@ -106,19 +107,24 @@ namespace pxsim.visuals {
this.updateOpacity();
}
public updateState() {
this.updateOpacity();
}
protected updateOpacity() {
if (this.rendered) {
const opacity = this.selected ? "0.2" : "1";
if (this.hasClick()) {
this.setOpacity(opacity);
const opacity = this.selected ? 0.2 : 1;
if (this.hasClick() && this.opacity != opacity) {
this.opacity = opacity;
this.setOpacity(this.opacity);
if (this.selected) this.content.style.cursor = "";
else this.content.style.cursor = "pointer";
}
}
}
protected setOpacity(opacity: string) {
this.element.setAttribute("opacity", opacity);
protected setOpacity(opacity: number) {
this.element.setAttribute("opacity", `${opacity}`);
}
}
}

33
sim/visuals/nodes/motorView.ts Normal file
View File

@ -0,0 +1,33 @@
/// <reference path="./moduleView.ts" />
namespace pxsim.visuals {
export abstract class MotorView extends ModuleView implements LayoutElement {
constructor(xml: string, prefix: string, id: NodeType, port: NodeType,
protected rotating_hole_id: string) {
super(xml, prefix, id, port);
}
updateState() {
super.updateState();
const motorState = ev3board().getMotors()[this.port];
if (!motorState) return;
const speed = motorState.getSpeed();
if (!speed) return;
this.setMotorAngle(motorState.getAngle());
}
private setMotorAngle(angle: number) {
const holeEl = this.content.getElementById(this.normalizeId(this.rotating_hole_id))
this.renderMotorAngle(holeEl, angle);
}
protected abstract renderMotorAngle(holeEl: Element, angle: number): void;
getWiringRatio() {
return 0.37;
}
}
}

1
sim/visuals/view.ts
View File

@ -219,7 +219,6 @@ namespace pxsim.visuals {
this.changed = false;
return res;
}
}
export abstract class SimView<T extends BaseNode> extends View implements LayoutElement {